Automated maskless paint applicator

ABSTRACT

An applicator assembly for treating a surface includes a material applicator configured to dispense a treatment material on a surface and an applicator clamp configured to support and position a dispensing end of the material applicator. An applicator tip is inserted into a dispensing aperture formed in the applicator clamp, and the applicator tip is configured to receive the treatment material from the dispensing end of the material applicator. The applicator assembly further includes an applicator bracket configured to slidably attach the material applicator and applicator clamp to an assembly support frame. Additionally, an automated applicator actuator operatively attached to the assembly support frame and applicator bracket manipulates the applicator bracket between a first position and a second position.

FIELD

The present disclosure relates generally to surface treatment systems,and more specifically to automated maskless surface treatment systemsfor painting surfaces.

BACKGROUND

Treating and coating structural surfaces of machines, such as commercialaircraft, is a long and extensive process. Surface treatment oftenrequires coating a structural surface that includes a variety ofgeometries such as flat, concave, convex, and other such shapedsurfaces. Furthermore, coating the structural surfaces includes applyingmultiple layers of coatings for engineering properties, as well as toapply a decorative livery. Often times, each subsequent layer or coatingis applied using a complex process which requires a series of maskingoperations performed before applying a variety of colored paints orother coatings where they are needed. For example, when shapes or textare to be painted on the surface, the shape or text is manually maskedbefore painting over and/or around the mask(s). Moreover, each layer orcoating must cure, or sufficiently dry, before the next layer can beapplied. The cure time can last up to several hours, and therefore addssignificant time to the overall surface treatment process. Thesemasking, painting, and curing operations are serially repeated until theexterior surface treatment is completed. Performing these processes onlarge areas with a variety of contoured surfaces, therefore, can requirea significant amount of time and resources.

SUMMARY

In accordance with one aspect of the present disclosure, an applicatorassembly is disclosed. The applicator assembly includes an assemblysupport frame and a material applicator configured to dispense atreatment material on a surface. The applicator assembly furtherincludes an applicator clamp forming an interior space and having adispensing aperture. The applicator clamp is configured to support andposition a dispensing end of the material applicator within the interiorspace. The applicator assembly further includes an applicator tipinserted into the dispensing aperture formed in the applicator clamp.The applicator tip extends from the interior space to a locationexterior of the applicator clamp and the applicator tip is configured toreceive the treatment material from the dispensing end of the materialapplicator. The applicator assembly further includes an applicatorbracket attached to the material applicator and the applicator clamp,the applicator bracket configured to slidably attach the materialapplicator and the applicator clamp to the assembly support frame. Anautomated applicator actuator is operatively attached to the assemblysupport frame and the applicator bracket, the automated applicatoractuator configured to manipulate the applicator bracket between a firstposition and a second position.

In accordance with another aspect of the present disclosure, surfacetreatment system for applying a treatment material to a surface isdisclosed. The surface treatment system includes an applicator assemblyconfigured to treat the surface with the treatment material and theapplicator assembly includes an assembly support frame and a materialapplicator configured to dispense the treatment material on the surface.The applicator assembly further includes an applicator clamp forming aninterior space and having a dispensing aperture. The applicator clamp isconfigured to support and position a dispensing end of the materialapplicator within the interior space. Additionally, an applicator tip isinserted into the dispensing aperture formed in the applicator clamp andthe applicator tip extends from the interior space to a locationexterior of the applicator clamp. The applicator tip is configured toreceive the treatment material from the dispensing end of the materialapplicator. The applicator assembly further includes an applicatorbracket attached to the material applicator and the applicator clamp.The applicator bracket is configured to slidably attach the materialapplicator and the applicator bracket to the assembly support frame.Furthermore, an automated applicator actuator is operatively attached tothe assembly support frame and the applicator bracket and the automatedapplicator actuator is configured to manipulate the applicator bracket,the material applicator, and the applicator clamp between a firstposition and a second position. The surface treatment system furtherincludes a pressure vessel configured to hold the treatment material andthe pressure vessel is coupled to a material supply line which extendsfrom the pressure vessel to the material applicator. The material supplyline is configured to supply the treatment material to the materialapplicator, wherein, the pressure vessel is coupled to the materialsupply line. The surface treatment system further includes a robot armoperably attached to the assembly support frame and configured to moveand position the applicator assembly during treatment of the surface.Moreover, at least one sensor is operatively attached to the applicatorassembly and configured to sense and scan the surface to produce asurface data set. Moreover, the surface treatment system includes acontroller communicably coupled to the applicator assembly andprogrammed to operate the automated applicator actuator to manipulatethe applicator assembly between at least the first position and thesecond position, and to selectively operate the material applicator suchthat the treatment material is applied to the surface.

In accordance with yet another aspect of the present disclosure, amethod of treating a surface with a surface treatment system isdisclosed. The surface treatment method includes determining a treatmentstart position of a robot arm for applying a treatment material to thesurface, wherein an applicator assembly is attached to the robot arm.The method further includes moving the robot arm to the treatment startposition and aligning the applicator assembly with the surface.Additionally, the method includes saturating an applicator tip of theapplicator assembly with a material applicator configured to dispensethe treatment material. Moreover, the method includes manipulating theapplicator assembly between a first position and a second position withan automated applicator actuator to position the applicator assemblyrelative to the surface. The method further includes selectivelyoperating the applicator assembly to apply the treatment material to thesurface.

The features, functions, and advantages disclosed herein can be achievedindependently in various embodiments or may be combined in yet otherembodiments, the details of which may be better appreciated withreference to the following description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an exemplary vehicle constructed inaccordance with the present disclosure;

FIG. 2 is a top view of an exemplary work area including a set of wingsand an automated robot assembly in accordance with the presentdisclosure;

FIG. 3 is a perspective view of an exemplary applicator assemblyattached to the automated robot assembly of FIG. 2, in accordance withthe present disclosure;

FIG. 4 is a sectional view of the applicator assembly of FIG. 3, inaccordance with the present disclosure;

FIG. 5 is a perspective view of a portion of an exemplary applicatorassembly of FIGS. 3-4, in accordance with the present disclosure;

FIG. 6 is a schematic view of an exemplary surface treatment controlsystem in accordance with the present disclosure; and

FIG. 7 is a flowchart illustrating an exemplary method of treating asurface in accordance with the present disclosure.

It should be understood that the drawings are not necessarily to scale,and that the disclosed embodiments are illustrated diagrammatically,schematically, and in some cases in partial views. In certain instances,details which are not necessary for an understanding of the disclosedmethods and apparatuses or which render other details difficult toperceive may have been omitted. It should be further understood that thefollowing detailed description is merely exemplary and not intended tobe limiting in its application or uses. As such, although the presentdisclosure is for purposes of explanatory convenience only depicted anddescribed in illustrative embodiments, the disclosure may be implementedin numerous other embodiments, and within various systems andenvironments not shown or described herein.

DETAILED DESCRIPTION

The following detailed description is intended to provide thedescription of an automated surface treatment (e.g., painting) systemand methods for treating a surface using the automated surface treatmentsystem. In one non-limiting example, the automated surface treatmentsystem can be used to at least eliminate the masking step which coversportions of the surface not to be treated (e.g., painted). Additionally,the automated surface treatment system can increase the quality of thesurface treatment because the manual masking step is removed.Furthermore, removing the manual masking process can reduce the surfacetreatment time because the treatment method no longer needs to wait fora previously applied paint coat to be completely cured before the manualmasking step. Actual scope of the disclosure is defined by the appendedclaims.

Referring to FIG. 1, an assembled vehicle 20 is illustrated. Onenon-limiting example of the vehicle 20 is that of an aircraft; howeverthe present disclosure applies to other types of vehicles and machinesas well. As illustrated, the vehicle 20 is configured with an airframe22 which includes a fuselage 24, wings 26, and a tail section 28. Insome embodiments, one or more propulsion units 30 are attached to eachwing 26 in order to propel the vehicle 20 in a direction of travel.Furthermore, the wings 26 are fixedly attached to the fuselage 24 andthe propulsion units 30 are attached to an underside surface of the wing26, however other attachment locations of the propulsion units 30 arepossible. In some embodiments, the wings 26 are positioned at asubstantially centered position along the fuselage 24, and the wings 26are configured to include a plurality of flaps 32, leading edge devices34, and peripheral edge devices 36 (i.e., winglets). Moreover, duringoperation of the vehicle 20, the flaps 32, leading edge devices 34 andperipheral edge devices 36 are capable of being adjusted in a pluralityof positions in order to control and stabilize the vehicle 20. Forexample, the flaps 32 and leading edge devices 34 are adjustable inseveral different positions to produce the desired lift characteristicsof the wings 26. Additionally, the tail section 28 of the airframe 22includes components which provide other stability and maneuverabilityfunctions of the vehicle 20, such as an elevator 38, a rudder 40, avertical stabilizer fin 42, and a horizontal stabilizer 44.

FIG. 2 illustrates one non-limiting example of the wings 26 positionedwithin a work area 46 and disassembled from other components of thevehicle 20. Generally, the wings 26 and other components of the vehicle20 (FIG. 1) are constructed out of aluminum, aluminum alloy, titanium,carbon composite, or other suitable material. Moreover, the wings 26 areconfigured to form an aerodynamic structure which incorporates a varietyof surface geometries such as, but not limited to, flat surfaces,concave surfaces, convex surfaces, and other such surface geometries. Insome embodiments, the variety of surface geometries (i.e., flat, curved,concave, convex) are used in combination to form the wings 26, andtherefore create changing dimensions, topographies, and other suchcharacteristics along the length, width, or other such dimension of thewings 26. In one non-limiting example, a wing surface 50 (i.e., top andbottom surfaces of the wing 26) has a portion that forms flat surface48. Moreover, the leading edge devices 34 of the wing 26 create a morerounded or curved surface 52 of the wing 26, and other portions of thewing surface 50 have a variable topography (i.e., convex and concave).Additionally, it will be understood that while the wings 26 areillustrated in FIG. 2, embodiments of the present disclosure apply toother components and systems of the vehicle 20 as well.

During manufacturing and/or servicing of the vehicle 20 (FIG. 1), thewings 26, and other components, are not assembled with or detached fromthe fuselage 24 (FIG. 1) and positioned within the work area 46 toperform one or more manufacturing or scheduled service steps. In onenon-limiting example, the manufacturing and/or servicing of the vehicle20 includes providing one or more surface treatments on the wing surface50. Generally, the surface treatment of the wing surface 50 includes oneor more of cleaning, abrading, priming, painting, protecting, repairing,or other surface treatment of the flat surface 48, the curved surface52, and other portions of each wing 26. Moreover, one non-limitingexample of applying a surface treatment layer 51 (i.e., paint, primer,clear coat) to the wing surface 50 includes applying straight lines,curved lines, graphical patterns, and text descriptions (i.e., “NoStep”, “Hot”, “Caution”) to alert or communicate certain instructionsregarding the wings 26 or other components of the vehicle 20 (FIG. 1).Additionally or alternatively, the surface treatment layer 51 providessurface protection against the harsh environmental conditionsencountered by the wings 26 during operation, and the lines, graphicalpatterns, or text descriptions help identify and distinguish particular(e.g., sensitive) portions of the wings 26 and other components of thevehicle 20 (FIG. 1).

As further illustrated in FIG. 2, each wing 26 is prepared for applyingthe surface treatment layer 51 by positioning the wing 26 within thework area 46 prior to coupling the wings 26 and other componentstogether to form the vehicle 20 (FIG. 1). However, in alternativeembodiments, such as, but not limited to, during service or maintenanceof the vehicle 20 (FIG. 1), applying the surface treatment layer 51 ispossible with the wings 26, the tail section 28 (FIG. 1), and othercomponents attached to the fuselage 24 (FIG. 1). As further illustratedin FIG. 2, in an embodiment where the wings 26 are unattached to thefuselage 24 (FIG. 1), each wing 26 is delivered to the work area 46 by aplurality of automated guided vehicles 54 (AGVs) or other such movementdevice. For example, the AGVs 54 are positioned along the underside ofthe each wing 26 and provide adequate support while the AGVs 54 move thewings 26 into treatment position, as well as support each wing 26 duringsurface treatment. In some embodiments, after the AGVs 54 move the wings26 into the work area 46, one or more wing support structures 56 arepositioned along the underside of each wing 26 to provide additionalsupport during the surface treatment. While the use of AGVs 54 and wingsupport structures 56 are shown in FIG. 2, the use of other movement andsupport devices such as a gantry, a conveyor system, and the like arealso possible.

Additionally, the work area 46 is equipped with at least one automatedrobot assembly 58 that includes a robot arm 60 and an applicatorassembly 62 operably attached to the robot arm 60. In some embodiments,the applicator assembly 62 is configured to apply a treatment material64, such as, but not limited to, a primer, a base coat paint, a top coatpaint, a clear coat, or other such material, to the wing surface 50 ofthe vehicle 20 (FIG. 1). Additionally, the robot arm 60 is configured asan articulated device with at least one robot arm joint 66 which allowsfor the manipulation and adjustment of the robot arm 60 duringapplication of the treatment material 64. Furthermore, in onenon-limiting example, the automated robot assembly 58 and applicatorassembly 62 are mounted on a surface treatment AGV 68, similar to theAGVs 54 used to move the wings 26 in and out of the work area 46. Thesurface treatment AGV 68 is configured to move along the length L-L ofthe work area 46 as the automated robot assembly 58 and applicatorassembly 62 treat the wing surface 50. In one embodiment, the surfacetreatment AGV 68 is attached to a set of AGV rails 70, which arepositioned laterally along the wing 26 and configured to run along thelength L-L of the work area 46. Furthermore, some embodiments include atleast two sets of the AGV rails 70 that are spaced apart within the workarea 46 such that the wings 26, or other components, are positioned andsubstantially centered between the two sets of AGV rails 70. As aresult, one or more automated robot assemblies 58 and applicatorassemblies 62 are positioned on either side of the wing 26 duringtreatment of the wing surface 50. In an alternative embodiment, thesurface treatment AGV 68 is configured with a set of ground engagingelements (i.e., tracks, or wheels) that do not require being mounted ona set of AGV rails 70. Such a surface treatment AGV 68 travels directlyalong the floor of the work area 46 while the automated robot assembly58 and applicator assembly 62 applies the treatment material 64 alongthe wing surface 50.

In an alternative embodiment, instead of using the surface treatment AGV68, the automated robot assembly 58 and applicator assembly 62 aremounted on an overhead gantry 72 positioned above the wings 26. In someembodiments, the automated robot assembly 58 is operably attached to theoverhead gantry 72 such that the automated robot assembly 58 hangs downfrom the overhead gantry 72 and the robot arm 60 and applicator assembly62 are manipulated and adjusted to apply the treatment material 64 tothe wing surface 50.

Referring now to FIGS. 3 and 4, with continued reference to FIG. 2, anexemplary applicator assembly 62 is shown. In some embodiments, theapplicator assembly 62 includes a material applicator 74 that isconfigured to dispense the treatment material 64 onto the wing surface50 or other such location of the vehicle 20. (FIG. 1). In onenon-limiting example, the material applicator 74 is a pneumatic film andmaterial coater that does not spray or otherwise atomize the materialinto droplets as the material is applied to the surface. Additionally,the material applicator 74 being configured as a pneumatic film andmaterial coater can eliminate over spray that occurs with a spray oratomized material deposition. As a result, the material applicator 74can provide several benefits such as, but not limited to, eliminatingthe need to mask the surrounding area, reducing ventilation requirementsaround the work area 46, and reducing wasted treatment material 64.

In one non-limiting example, the applicator assembly 62 includes apressure vessel 76 configured to store and pressurize a supply of thetreatment material 64. Generally, the pressure vessel 76 is configuredto have a pressurized range between 5 to 20 pounds per square inch (psi)(34.5 to 137.9 kilopascal (kPa)); however other pressure ranges for thepressure vessel 76 and treatment material 64 are possible. Moreover, thepressure vessel 76 is coupled, or otherwise connected, to the materialapplicator 74 through a material supply line 78 which transfers thetreatment material 64 from the pressure vessel 76 to the materialapplicator 74. In FIG. 3, one non-limiting example of the applicatorassembly 62 illustrates the material supply line 78 to include a flowrestrictor 79, such as, but not limited to, a needle valve, a mass flowcontroller, or other such flow limiting device. The flow restrictor 79can be adjusted to control the flow rate of the treatment material 64between the pressure vessel 76 and the material applicator 74.

Additionally, in some embodiments the material applicator 74, or othercomponent of the applicator assembly 62, further includes a treatmentmaterial control valve 80 that is selectively opened or closed to allowthe treatment material 64 to flow, or otherwise be transferred, from thepressure vessel 76 to the material applicator 74. For example, FIG. 3shows the material applicator 74 configured with the treatment materialcontrol valve 80 coupled to a first end of the material supply line 78.As a result, selectively opening the treatment material control valve 80allows the treatment material 64, stored under pressure in the pressurevessel 76, to flow through the material supply line 78 from the pressurevessel 76 to the material applicator 74. Furthermore, in onenon-limiting example the applicator assembly 62 is configured to includeboth the flow restrictor 79 and the treatment material control valve 80to adjust and control the flow of the treatment material 64 between thepressure vessel 76 and the material applicator 74. However, otherconfigurations of the components of the applicator assembly 62 arepossible. In an alternative embodiment, the treatment material controlvalve 80 can be incorporated with the pressure vessel 76 and/or thematerial supply line 78. Additionally, in yet an alternative embodiment,each of the material applicator 74 and the pressure vessel 76 areconfigured with a treatment material control valve 80 that isselectively opened and closed to control the movement of the treatmentmaterial 64 between the pressure vessel 76 and the material applicator74.

In some embodiments, a pump 81 can be additionally incorporated with theapplicator assembly 62 and coupled to the material supply line 78. Thepump 81 can be configured to pump the treatment material 64 between thepressure vessel 76 and the applicator assembly 62. Generally, the pump81 is a low pressure pump, such as but not limited to, a peristalticpump, a pneumatic pump, a diaphragm pump, a centrifugal pump, or otherlow pressure pump. Moreover, the pump 81 is configured to deliver a lowenough flow rate (i.e., as low as 1 ml/min) of treatment material 64such that the pump 81 can remain in an actively pumping state during theapplication of the treatment material 64. For example, the pump 81 canbe configured to produce a continuous flow of treatment material 64 fromthe pressure vessel 76 to the applicator assembly 62. Additionally, theflow restrictor 79 and/or the treatment material control valve 80 can beused with the pump 81 to adjust and control the flow of the treatmentmaterial 64 from the pressure vessel 76 to the applicator assembly 62during the application of the treatment material 64 on the wing surface50 (FIG. 2).

As further illustrated in FIGS. 3 and 4, an embodiment of the applicatorassembly 62 includes an assembly support frame 82 configured to attachthe applicator assembly 62 to the automated robot assembly 58 (FIG. 2).Moreover, in some embodiments, the pressure vessel 76 is mounted orotherwise attached to the assembly support frame 82 with one or morevessel fasteners 84 such as a screw, bolt, pin, or other such device.Additionally, the applicator assembly 62 includes an applicator clamp 86configured to support and position a dispensing end 88 of the materialapplicator 74. In one non-limiting example, the applicator clamp 86 isformed from a first piece 90 and a second piece 92 that fit together andfastened by one or more clamp fasteners 94 such as, but not limited to,a screw, bolt, pin, or other such device. Furthermore, the first andsecond pieces 90, 92 of the applicator clamp 86 are configured to forman applicator aperture 96 such that the dispensing end 88 of thematerial applicator 74 extends into and is secured by the applicatorclamp 86. Additionally, in some embodiments, the applicator clamp 86includes a third piece 98 (FIG. 4), which is attached to the first andsecond pieces 90, 92 and is configured to define an interior space 100(FIG. 4) of the applicator clamp 86. In an alternative embodiment, theapplicator clamp 86 can be formed from a single unitary piece.

Furthermore, the applicator clamp 86 is configured such that thedispensing end 88 is inserted through the applicator aperture 96 andextends into the interior space 100 of the applicator clamp 86.Moreover, as further illustrated in FIG. 4, the applicator clamp 86includes a raised lip 102 and dispensing aperture 104. In onenon-limiting example, the applicator aperture 96 and dispensing aperture104 are aligned with one another and formed in opposing ends of theapplicator clamp 86. However, other configurations of the applicatoraperture 96 and dispensing aperture 104 are possible. In someembodiments, the dispensing aperture 104 extends from the interior space100 of the applicator clamp 86 to the exterior such that treatmentmaterial 64 dispensed by the material applicator 74 is applied to thewing surface 50 (FIG. 2) or other desired application location on thevehicle 20 (FIG. 1). Additionally, in an embodiment, the raised lip 102is configured to circumferentially surround the dispensing aperture 104within the interior space 100 such that any excess treatment material 64is retained within the interior space 100 of the applicator clamp 86 andnot allowed to be dispensed through the dispensing aperture 104. Asfurther illustrated in FIG. 4, in some embodiments, the dispensing end88 of the material applicator 74 is positioned a distance 106 away fromthe raised lip 102 surrounding the dispensing aperture 104. Moreover,the applicator clamp 86 is configured such that the position of thedispensing end 88 of the material applicator 74 is adjustable in orderto change (i.e., increase or decrease) the distance 106 between thedispensing end 88 and the raised lip 102. For example, the distance 106between the dispensing end 88 of the material applicator 74 and theraised lip 102 surrounding the dispensing aperture 104 is adjusted(i.e., increased or decreased) in order to optimize the dispensing ofthe treatment material 64 by the applicator assembly 62.

Furthermore, an embodiment of the applicator clamp 86 includes anapplicator tip 108 that is inserted into the dispensing aperture 104.The applicator tip 108 is positioned within the dispensing aperture 104such that the applicator tip 108 extends from the interior space 100through the dispensing aperture 104 to the exterior of the applicatorclamp 86. In some embodiments, the applicator tip 108 is formed out ofan absorbent foam material to provide a distinct (i.e., sharp) edgealong a line of treatment material 64 dispensed on the wing surface 50.However, the applicator tip 108 can be formed out of an alternativeabsorbent material such as, but not limited to, a polymer, a fibrousbrush, cloth, or other absorbent material. Moreover, the interiorportion 110 of the applicator tip 108 extends through the dispensingaperture 104 and into the interior space 100 of the applicator clamp 86,and the interior portion 110 of the applicator tip 108 is aligned withthe dispensing end 88 of the material applicator 74. Moreover, theinterior portion 110 of the applicator tip 108 is surrounded by theraised lip 102. As a result, the material applicator 74 dispenses thetreatment material 64 such that the interior portion 110 of theapplicator tip 108 absorbs and becomes saturated with the dispensedtreatment material 64. Additionally, the applicator tip 108 includes anexterior portion 112 that is adjacently positioned, or in some cases indirect contact with, the wing surface 50 (FIG. 2), and configured toapply and distribute the treatment material 64 along the wing surface 50(FIG. 2) or other such desired surface to be treated. In onenon-limiting example, the exterior portion 112 of the applicator tip 108is configured to continuously and smoothly apply a linear pattern oftreatment material 64 along the wing surface 50. However, other shapesand configurations of the exterior portion 112 of the applicator tip 108are possible, depending on the application needs.

Further illustrated in FIGS. 3-4, an exemplary embodiment of theapplicator assembly 62 includes an applicator bracket 114 that isattached to the material applicator 74 and the applicator clamp 86.Moreover, the applicator bracket 114 is mounted or otherwise attached tothe assembly support frame 82. In one non-limiting example, the assemblysupport frame 82 includes an actuation rail 116, or other actuationguiding device, and the applicator bracket 114 is slidably attached tothe actuation rail 116. In one non-limiting example, the actuation rail116 is configured in a vertical orientation, and the applicator bracket114 is attached to the actuation rail 116 such that the materialapplicator 74, the applicator clamp 86, and the applicator tip 108 areraised and lowered as the applicator bracket 114 slides along theactuation rail 116. As a result, applicator bracket 114 slides along theactuation rail 116 in a first direction to engage or adjacently positionthe applicator tip 108 with the wing surface 50, or other surface to betreated. Alternatively, the applicator bracket 114 slides along theactuation rail 116 in an opposite second direction to disengage or raisethe applicator tip 108 away from the wing surface 50. Moreover, in someembodiments, an applicator actuator 118 is attached to the assemblysupport frame 82 and the applicator bracket 114 and the applicatoractuator 118 is configured to actuate the applicator bracket 114 betweenat least a first position 120 (i.e., raised position) and a secondposition 122 (i.e., lowered position).

Referring back to FIG. 3, an embodiment of the applicator assembly 62 isconfigured with at least one sensor 124 operatively attached to theapplicator clamp 86 or other component of the applicator assembly 62. Inone non-limiting example, the one or more sensors 124 include a sensingdevice, such as, but not limited to, a vision sensor (i.e., camera), alaser scanning topography and surface height sense sensor (i.e., laser,LIDAR, and/or interferometer), and other such surface metrology sensors.The sensor 124 is configured to scan and sense the wing surface 50 (FIG.2) and collect or otherwise produce a surface data set which includesthe gap or distance measured between the applicator clamp 86, or othercomponent of the applicator assembly 62, and the wing surface 50.Furthermore, some embodiments of the applicator assembly 62, include oneor more surface engaging members 126, such as wheels, that engage thewing surface 50, when the applicator assembly 62 is adjusted in thesecond position 122 (i.e., lowered position).

Moreover, the one or more surface engaging members 126 are positioned,or otherwise mounted, on the applicator assembly 62 to define a contactpoint at a fixed height relative to the applicator tip 108 and the wingsurface 50 (FIG. 2). For example, the one or more surface engagingmembers 126 can be sized and/or mounted on the applicator assembly 62such that a pre-defined distance 127 (FIG. 4) is maintained between theapplicator assembly 62 and the wing surface 50. As a result, when theone or more surface engaging members 126 engage the wing surface 50 theapplicator tip 108 contacts the wing surface 50, and the applicator tip108 remains in constant contact with the wing surface 50 as theautomated robot assembly 58 and the applicator assembly 62 move on thewing surface 50. Additionally, the surface engaging members 126 areconfigured to allow the applicator assembly 62 to adapt to any changinggeometry (i.e., curvature or steps) of the wing surface 50 such that theapplicator assembly 62 and the applicator tip 108 maintain contact withthe wing surface 50 as the applicator assembly 62 moves along the wingsurface 50 (FIG. 2) or other such surface to be treated.

Moreover, some embodiments of the applicator assembly 62 are furtherconfigured to include a pivot joint 128 located between the applicatorbracket 114 and the assembly support frame 82. In some embodiments, theapplicator actuator 118 is additionally configured to rotate theapplicator bracket 114 about an axis 130 of the pivot joint 128 suchthat the applicator assembly 62 maintains the desired orientationrelative to the wing surface 50 (FIG. 2) or other such surface to betreated. Additionally, in some embodiments, the pivot joint 128 isfurther configured to rotate the applicator bracket 114, as well as theattached material applicator 74 and applicator clamp 86, between a pivotjoint first position 132 (i.e., treatment position) and a pivot jointsecond position 134 (i.e., treatment material empty position). In anembodiment, the applicator assembly 62 further includes a materialchamber 136 attached to the exterior of the applicator clamp 86 and anexcess material aperture 138 is formed in the applicator clamp 86. Thematerial chamber 136 is aligned with the excess material aperture 138such that as the pivot joint 128 rotates the applicator bracket 114 fromthe first position 120 to the second position 122 any excess treatmentmaterial 64 in the interior space 100 empties into the material chamber136 through the excess material aperture 138. In one non-limitingexample, the applicator bracket 114 rotates approximately ninety degreesas the pivot joint 128 rotates between the first position 120 and thesecond position 122. However other rotation amounts to rotate theapplicator bracket 114 are possible in order to empty the excesstreatment material 64 into the material chamber 136.

Referring back to FIG. 2, automated robot assembly 58 and the applicatorassembly 62 apply the treatment material 64 along the wing surface 50 orother desired surface to be treated. In one embodiment, the automatedrobot assembly 58 and the applicator assembly 62 apply the treatmentmaterial 64 in a straight line, a curved line, or other defined patternor geometry, as the surface treatment AGV 68, or other such device,moves the automated robot assembly 58 and the applicator assembly 62along the wing surface 50.

The applicator assembly 62 is capable of being configured to apply aplurality of coatings which, either alone or in combination, compose thesurface treatment layer 51. For example, the applicator assembly 62 iscapable of applying a plurality of surface coatings, such as, but notlimited to, a surface protective layer, an adhesion promoting layer, aprimer layer, a basecoat layer, a top coat layer, a clear coat layer, adecorative livery coating, or other known coatings. Moreover, theapplicator assembly 62 is configured to dispense the treatment material64 with a reduced air pressure (i.e., 5-20 psi (34.5-137.9 kPa)) suchthat the surface treatment layer 51 is applied in a non-atomized manneronto the wing surface 50 in a single pass.

In some embodiments, the surface treatment layer 51 is composed of asingle surface coating and is dispensed in a single pass along the wingsurface 50. However, additional passes may be performed to apply thesurface treatment layer 51 along the wing surface 50, as needed. In onenon-limiting example, the applicator assembly 62 is configured to applya plurality of coatings that are combined to form the surface treatmentlayer 51, and the applicator assembly 62 is configured to dispense onecoating at a time along the wing surface 50. As a result, the applicatorassembly 62 makes one or more passes to dispense each of the pluralityof coatings that comprise the surface treatment layer 51. Alternatively,two or more automated robot assemblies 58 and applicator assemblies 62are configured to each apply a single coating as each of the two or moreautomated robot assemblies 58 and applicator assemblies 62 moves alongthe wing surface 50 to dispense the plurality of coatings that comprisethe surface treatment layer 51.

Referring now to FIG. 5 and with continued reference to FIG. 4, anexemplary dispenser aperture 104 formed in the applicator clamp 86 isshown. In one non-limiting example, the dispenser aperture 104 is arectangular opening which extends from the exterior into the interiorspace 100 of the applicator clamp 86. However, other geometries of thedispenser aperture 104 are possible, such as, but not limited to, acircular opening, a square opening, or other such shaped opening. Asdescribed above, in some embodiments the dispenser aperture 104 isconfigured to have the applicator tip 108 inserted into the dispenseraperture 104. As a result, the applicator tip 108 includes the interiorportion 110 extending through the dispenser aperture 104 to an exteriorportion 112 which protrudes exteriorly from the dispenser aperture 104.Furthermore, in some embodiments, one or more applicator tip holders 139are arranged around a lateral surface 140 of the dispenser aperture 104and configured to hold or position the applicator tip 108 within thedispenser aperture 104. In one non-limiting example, the one or moreapplicator tip holders 139 are formed or otherwise shaped to resemble“tooth-like” features configured to extend outwardly from the lateralsurface 140 into the opening formed by the dispenser aperture 104.Therefore, when the applicator tip 108 is inserted into the dispenseraperture 104, the applicator tip holders 139 grip, hook or otherwisegrasp the applicator tip 108 and hold the applicator tip 108 within thedispenser aperture 104. Furthermore, the applicator tip holders 139 areconfigured such that the applicator tip 108 is securely held within thedispenser aperture 104; however the applicator tip 108 can be removedfrom the dispenser aperture 104 and exchanged with a new or alternatetype of applicator tip 108. Generally, the applicator tip 108 is formedout of an absorbent foam material, but can be made out of other materialsuch as, rubber, polymer, composite, natural or synthetic fibers,plastic, and the like. Additionally, while the applicator tip holders139 are shown as “tooth-like” projections, alternative holding devicessuch as clamps, clips, pins, and other such holding devices arepossible.

Referring now to FIG. 6, a schematic of a surface treatment controlsystem 142 is illustrated. The surface treatment control system 142 isconfigured to operate and monitor the automated robot assembly 58 andthe applicator assembly 62. The surface treatment control system 142includes a controller 144 and an input/output terminal 146 which iscommunicably coupled to the controller 144. Furthermore, the controller144 is programmed to control the movement of the automated robotassembly 58, as well as, to control the movement and adjustment of theapplicator assembly 62 operably attached to the automated robot assembly58. For simplicity, FIG. 6 shows the controller 144 communicably coupledto a single automated robot assembly 58 and applicator assembly 62.However, in some embodiments, the controller 144 is configured tocontrol and operate a plurality of automated robot assemblies 58 andapplicator assemblies 62.

Referring back to FIG. 2 and with continued reference to FIG. 6, thecontroller 144, the input/output terminal 146 and other components ofthe surface treatment control system 142 are located in an operatorcontrol station 148 located in the work area 46. The surface treatmentcontrol system 142 is configured to control and operate one or moreautomated robot assemblies 58. In one non-limiting example, operatorcontrol station 148, which includes the controller 144 and theinput/output terminal 146, is proximally located to the work area 46 andset up in a position adjacent to the wing 26 or other component to betreated. Moreover, the operator control station 148 is proximallylocated to the automated robot assembly 58 and other components of thesurface treatment control system 142 such that the controller 144, andthe input/output terminal 146 are in direct communication though a wiredconnection between the controller 144 and the automated robot assembly58. Alternatively, communication between the controller 144, theinput/output terminal 146, and the automated robot assembly 58 and othercomponents of the surface treatment control system 142 is establishedusing a wireless connection such as, but not limited to, a radiofrequency network, a computer data network, a Wi-Fi data network, acellular data network, a satellite data network, or any other known datacommunication network.

Additionally, the surface treatment control system 142 of FIG. 6 isconfigured to a user to access the controller 144 using the input/outputterminal 146. In some embodiments, the input/output terminal 146 allowsfor commands and other instructions to be input through a keyboard,mouse, dial, button, touch screen, microphone, or other known inputdevice. Furthermore, data and other information generated by the surfacetreatment control system 142 can be output to the input/output terminal146 through a monitor, touch screen, speaker, printer, or other knownuser output device. In some embodiments, the input/output terminal 146is communicably coupled to the controller 144 through a wired connectionwhich directly connects the input/output terminal 146 to the controller144. Alternatively, the input/output terminal 146 is communicablycoupled to the controller 144 through a wireless communication networksuch as Bluetooth communication, near-field communication, a radiofrequency network, a computer data network, a Wi-Fi data network, acellular data network, a satellite data network or any other known datacommunication network.

Moreover, in one non-limiting example, the input/output terminal 146 isa mobile communication device that is communicably coupled to thecontroller 144, such as a laptop computer, a tablet computer, a smartphone device, a cellular phone, or other such mobile device. As aresult, multiple users such as, an operator, an engineer, a technician,a supervisor, or other interested personnel can access the controller144 and other components of the surface treatment control system 142. Insome embodiments, each user can wirelessly access the controller 144 andother components of the surface treatment from a remote location (i.e.,outside of the work area 46) to control and monitor the surfacetreatment control system 142. Such a configuration will provideflexibility to the users of the surface treatment control system 142because they can be in an alternative location away from the work area46 while monitoring and operating the surface treatment control system142 during the treatment of the wing surface 50 or other desired surfaceto be treated.

In some embodiments, the controller 144 of the surface treatment controlsystem 142 is composed of one or more computing devices that are capableof executing a control mechanism and/or software which allows the userto direct and control the automated robot assembly 58, the applicatorassembly 62, or other component of the surface treatment control system142. In some embodiments, the one or more computing devices of thecontroller 144 are programmed to control the movement of the surfacetreatment AGV 68, or other movement device. Additionally, the controller144 is programmed to control the movement, operation and adjustment ofthe automated robot assembly 58 and the applicator assembly 62 duringthe application of the treatment material 64 on the wing surface 50. Inone exemplary application of the surface treatment control system 142,the operator, or other user, is able to program a pattern or process forapplying the treatment material 64. The pattern or process istransmitted from the controller 144 to the automated robot assembly 58and the applicator assembly 62 and the pattern or process is executed bythe automated robot assembly 58 and the applicator assembly 62 duringthe treatment of the wing surface 50 or other desired surface to betreated. Furthermore, the communication network establishes two-waycommunication between the surface treatment control system 142 and theautomated robot assembly 58 such that data and information is easilysent and received. For example, commands sent by the surface treatmentcontrol system 142 are received by the automated robot assembly 58, anddata collected by the automated robot assembly 58, the applicatorassembly 62, and other such component is sent to and received by thecontroller 144.

In an embodiment, the one or more sensors 124 mounted on, or otherwiseincorporated with, the automated robot assembly 58 and applicatorassembly 62 is communicably coupled to the controller 144 and theinput/output terminal 146. In one non-limiting example, the applicatorassembly 62 attached to the automated robot assembly 58 includes atleast one sensor 124. Additionally or alternatively, a plurality ofsensors 124 is mounted on a variety of locations of the applicatorassembly 62 and/or automated robot assembly 58. The data collected bythe sensors 124 is transmitted to and utilized by the controller 144 andother components of the surface treatment control system 142.Additionally, in an embodiment, the controller 144 is programmed tostore, analyze and extract information from the data collected by thesensors 124, and use the extracted information to program the controlsignals sent by the controller 144 to the automated robot assembly 58and the applicator assembly 62. For example, the sensors 124 include asensing device, such as, but not limited to, a vision sensor (i.e.,camera), a laser scanning topography and surface height sense sensor(i.e., laser, LIDAR, and/or interferometer), and other such surfacemetrology sensors. Therefore, in some embodiments, data collected by thesensors 124 provides information about the wing surface 50 and otherdesired surface to be treated and the controller 144 programs thecontrol signals based on the data collected by the sensors 124.

Additionally, in some embodiments, the controller 144 and the automatedrobot assembly 58 are operably coupled with one another to enablereal-time adjustments to the automated robot assembly 58 and theapplicator assembly 62. For example, the controller 144 receives andanalyzes the data collected by the one or more sensors 124 mounted on,or otherwise incorporated with the automated robot assembly 58 andapplicator assembly 62. Moreover, each sensor 124 is configured todetect a surface topography change in the wing surface 50, collectimaging and vision data of the wing surface 50, determine a height ordispense gap between the wing surface 50 and the applicator assembly 62,provide a topographical map of the wing surface 50, provide positioningand location data of the automated robot assembly 58, and provide anyother such surface data collected. Furthermore, the controller 144transmits a control signal or other such set of commands to the surfacetreatment AGV 68, the automated robot assembly 58, the applicatorassembly 62 (i.e., treatment material control valve 80, applicatoractuator 118, or other device) to make adjustments to the control andoperation of the applicator assembly 62

Additionally, the user is able to view the data collected by the one ormore sensors 124 on the input/output terminal 146 and, if necessary,input adjustments to the control signal commands sent from thecontroller 144 to the automated robot assembly 58 and/or applicatorassembly 62. In some embodiments, the surface treatment control system142 is capable of making real-time adjustments to the automated robotassembly 58, the applicator assembly 62 and other such components of thesurface treatment control system 142 through the two-way communicationlink established by the surface treatment control system 142.

Referring now to FIG. 7, and with continued reference to the proceedingFIGS. 1-6, a flowchart illustrating an exemplary method or process 150of treating a surface with a surface treatment system is illustrated. Ina first block 152 of the surface treatment method or process 150, astructure such as a wing 26 or other component of the vehicle 20, isprepared for surface treatment and positioned within the work area 46.In one non-limiting example, the surface preparation includes theremoval of any protective or previously applied coatings on the wingsurface 50, abrading, cleaning, and drying the wing surface 50, and anyother surface preparations needed prior to the treatment of the wingsurface 50. Furthermore, prior to the start of the surface treatmentmethod or process 150, the wing 26, or other vehicle 20 component, ismoved into the treatment position within the work area 46. In onenon-limiting example, the wing 26 is transported into the work area 46by one or more AGVs 54 and delivered to the wing support structures 56,or other such support structures configured to support the wing 26during treatment.

In a next block 154 of the surface treatment method or process 150, theautomated robot assembly 58 moves to a surface treatment tool arealocated within the work area 46 and prepares to attach the desiredapplicator assembly 62 to the automated robot assembly 58. In onenon-limiting example, the desired treatment material 64 is loaded intothe pressure vessel 76 before the desired applicator assembly 62 isattached to the automated robot assembly 58. Alternatively, the desiredtreatment material 64 is loaded into the pressure vessel 76 after theapplicator assembly 62 is attached to the automated robot assembly 58.Moreover, in some embodiments, the desired treatment material 64 is adispensable material such as, but not limited to, paint, primer, basecoat, top coat, clear coat, or other such material. However, the use ofother types of material is possible. In one non-limiting example, thetreatment material 64 is a viscous paint (i.e., viscosity of 100centipoise or less) that is used to apply linear and/or curved markingsand identifiers (i.e., “no-step” lines, “Caution,” or “Hot”) on the wingsurface 50. Additionally, once the treatment material 64 is loaded intothe pressure vessel 76, the pressure vessel 76 is pressurized to thedesired dispense pressure. Generally, the desired dispense pressurefalls within the range of 5 to 20 psi (34.5-137.9 kPa); however otherpressures (i.e., higher or lower) are possible.

Once the applicator assembly 62 is loaded with treatment material 64,properly pressurized, and attached to the automated robot assembly 58,then according to a next block 156, the controller 144 sends a controlsignal to move and position the automated robot assembly 58 to thetreatment start position on the wing surface 50. In some embodiments,prior to the application of the treatment material 64, an alignment andadjustment check is performed to confirm that the automated robotassembly 58, and more specifically, the applicator assembly 62 isproperly adjusted and aligned relative to the wing surface 50. In someembodiments, the adjustment check includes analyzing data collected bythe one or more sensors 124 to confirm the proper dispense gap is setbetween the wing surface 50 and the applicator assembly 62.Additionally, the adjustment check confirms that each applicatorassembly 62 is in a normal or orthogonal orientation relative to thewing surface 50. Failure to properly adjust and align the applicatorassembly 62 relative to the wing surface 50 may result in a non-uniformapplication of the treatment material 64, damage to the wing surface 50,or other such defects. Therefore, if the inspection fails the set ofpredetermined adjustment criteria (i.e., dispense gap, orientation)which are input into the controller 144, the automated robot assembly 58and the applicator assembly 62 continue adjustment and alignment tocorrect any alignment and positioning errors.

After the automated robot assembly 58 and applicator assembly 62 areproperly adjusted, in a next block 158 a control signal is sent from thecontroller 144 to activate (i.e., open) the treatment material controlvalve 80 such that the material applicator 74 begins dispensing thetreatment material 64 to properly saturate the applicator tip 108 of theapplicator assembly 62. In one non-limiting example, the controller 144uses a predetermined time setting to properly saturate the applicatortip 108. Alternatively or additionally, a flow sensor or othermonitoring device is used to determine the proper amount of treatmentmaterial 64 is being dispensed. In some embodiments, the operator, orother user, of the surface treatment control system 142 will be notifiedof the alignment errors, treatment material 64 saturation errors andother such errors prior to the start of treatment. As a result, the useris able to correct the adjustment and saturation of the applicatorassembly 62 by inputting a corrective action command or other suchinstruction into the input/output terminal 146 which is then transmittedby the controller 144 to the automated robot assembly 58 and theapplicator assembly 62.

Once the applicator tip 108 is saturated with treatment material 64,then in a next block 160 the applicator assembly 62 begins the firstapplication of the treatment material 64 along the wing surface 50, orother desired surface to be treated. In one non-limiting example theautomated robot assembly 58 and applicator assembly 62 are programmed toapply a straight line of treatment material 64 along the wing surface50. As a result, the first application of the treatment material 64begins at a first position and ends at a second position, and thetreatment material 64 is applied to the wing surface 50 as the automatedrobot assembly 58 and applicator assembly 62 move between the firstposition and second position. Alternatively, in some embodiments, theautomated robot assembly 58 and applicator assembly 62 are programmed toapply other patterns of treatment material 64 such as, but not limitedto, a curved line, a dashed line, and/or other such pattern. Moreover,in yet another embodiment, the automated robot assembly 58 andapplicator assembly 62 are programmed to apply a solid pattern of thetreatment material 64 over a portion, or even the entire wing surface50.

In a next block 162, as the automated robot assembly 58 and theapplicator assembly 62 complete the first application of the treatmentmaterial 64, the controller 144 sends a signal to deactivate (i.e.,close) the treatment material control valve 80 such that the dispensingof treatment material 64 stops. The automated robot assembly 58 andapplicator assembly 62 then move to a different position on the wingsurface 50 to prepare for a second or subsequent application of thetreatment material 64.

In a next block 164, the automated robot assembly 58 and applicatorassembly 62 go through the alignment and adjustment checks. Once theautomated robot assembly 58 and applicator assembly 62 are properlyaligned, the controller 144 sends a signal to activate (i.e., open) thetreatment material control valve 80 such that the dispensing of thetreatment material 64 restarts and the applicator assembly 62 begins thesecond or subsequent application of the treatment material 64 along thewing surface 50, or other desired surface to be treated. As a result,the second or subsequent application of the treatment material 64 beginsat a subsequent first position and ends at a subsequent second position,and the treatment material 64 is applied to the wing surface 50 as theautomated robot assembly 58 and applicator assembly 62 moves between thesubsequent first position and second positions. In some embodiments, thesensors 124 attached to the automated robot assembly 58 and/or theapplicator assembly 62 continue to scan and collect data of the wingsurface 50 topography. The data collected by the sensors 124 is analyzedby the controller 144 to make real-time adjustments to the automatedrobot assembly 58 and the applicator assembly 62 as the applicatorassembly 62 dispenses the treatment material 64 on the wing surface 50.For example, the controller 144 adjusts the applicator assembly 62 aboutthe pivot joint 128 to maintain a normal or orthogonal orientationrelative to the wing surface 50. Additionally, the controller 144continues to analyze the surface topography data collected by thesensors 124 to maintain the proper dispense gap between the wing surface50 and the applicator assembly 62 as the automated robot assembly 58 andapplicator assembly 62 continues moving along the wing surface 50.

In a next block 166, upon the completion of the second or subsequentapplication of the treatment material 64, the controller 144 and othercomponents of the surface treatment control system 142 determine whetheran additional or subsequent application of treatment material 64 isneeded along the wing surface 50. If the surface treatment controlsystem 142 determines that additional or subsequent applications of thetreatment material 64 are needed, then the surface treatment method orprocess 150 returns to block 162 for the subsequent application oftreatment material 64. Alternatively, if the controller 144 and othercomponents of the surface treatment control system 142 determine thatthe application of treatment material 64 is complete, then in a nextblock 168 the automated robot assembly 58 and applicator assembly 62stop or end the application of treatment material 64 on the wing surface50. In some embodiments, the automated robot assembly 58 and applicatorassembly 62 retract from the wing surface 50 and return to the surfacetreatment tool area located within the work area 46. Moreover, theautomated robot assembly 58 detaches the applicator assembly 62 andleaves the applicator assembly 62 at the surface treatment tool area tobe cleaned and prepared for the next application of treatment material64.

After all of the desired treatments or coatings of treatment material 64have been applied to the wing surface 50, then in a next block 170, thesurface treatment method or process 150 is determined to be complete andthe wing 26 moves on to the next manufacturing or service step.

While the foregoing detailed description has been given and providedwith respect to certain specific embodiments, it is to be understoodthat the scope of the disclosure should not be limited to suchembodiments, but that the same are provided simply for enablement andbest mode purposes. The breadth and spirit of the present disclosure isbroader than the embodiments specifically disclosed and encompassedwithin the claims appended hereto. Moreover, while some features aredescribed in conjunction with certain specific embodiments, thesefeatures are not limited to use with only the embodiment with which theyare described, but instead may be used together with or separate from,other features disclosed in conjunction with alternate embodiments.

What is claimed is:
 1. A method of treating a surface with a surfacetreatment system, the method comprising: determining a treatment startposition of a robot arm for applying a treatment material to thesurface, wherein an applicator assembly is attached to the robot arm andincludes an applicator tip formed from an absorbent material; moving therobot arm to the treatment start position and aligning the applicatorassembly with the surface; saturating the applicator tip with a materialapplicator configured to dispense the treatment material; manipulatingthe applicator assembly between a first position and a second positionwith an automated applicator actuator configured to position theapplicator assembly relative to the surface; and selectively operatingthe applicator assembly to apply the treatment material to the surface;wherein the material applicator includes a dispensing end, andsaturating the applicator tip comprises aligning the dispensing end withthe applicator tip and positioning the dispensing end a fixed distanceaway from the applicator tip.
 2. The method of claim 1, wherein theapplicator assembly further comprises at least one sensor, andmanipulating the applicator assembly comprises scanning the surface withthe at least one sensor to produce a surface data set including adistance measured between the applicator assembly and the surface. 3.The method of claim 1, wherein the applicator assembly further comprisesone or more surface engaging members attached to the applicatorassembly, and manipulating the applicator assembly further includesengaging the one or more surface engaging members with the surface suchthat the applicator tip maintains a constant contact point at a fixedheight relative to an application point of the applicator tip.
 4. Themethod of claim 1, in which manipulating the applicator assembly furthercomprises rotating the applicator tip about an axis to maintain apredetermined orientation of the applicator assembly relative to thesurface.
 5. The method of claim 1, in which: the applicator assemblyincludes an applicator clamp forming an interior space and having adispensing aperture, the applicator clamp configured to support andposition a dispensing end of the material applicator within the interiorspace; and the applicator tip includes an interior portion and anexterior portion, the interior portion extending into the interior spaceand aligned with the material applicator such that the interior portionof the applicator tip absorbs the treatment material dispensed by thematerial applicator, and the exterior portion extending from thedispensing aperture to an exterior position, wherein the exteriorportion selectively applies the treatment material along the surface tobe treated.
 6. The method of claim 5, in which the surface treatmentsystem further includes a controller, and at least one sensoroperatively attached to the applicator clamp and the controller, whereinthe controller is communicably coupled to the automated applicatoractuator and the at least one sensor, wherein the at least one sensor isconfigured to sense and scan the surface and produce a surface data setthat includes a distance measured between the applicator clamp and thesurface, and the controller is programmed to operate the automatedapplicator actuator to manipulate the applicator assembly based on thesurface data set.
 7. The method of claim 5, wherein the applicator clampincludes a raised lip formed within the interior space, the raised lipconfigured to surround a perimeter of the dispensing aperture to isolatethe applicator tip from an excess of treatment material delivered by thematerial applicator.
 8. A method of treating a surface with a surfacetreatment system, the method comprising: determining a treatment startposition of a robot arm for applying a treatment material to thesurface, wherein an applicator assembly is coupled to the robot arm andincludes: an assembly support frame attached to the robot arm; amaterial applicator configured to dispense the treatment material on thesurface; an applicator clamp forming an interior space and having adispensing aperture, the applicator clamp configured to support andposition a dispensing end of the material applicator within the interiorspace; an applicator tip formed from an absorbent material and insertedinto the dispensing aperture of the applicator clamp, the applicator tipextending from the interior space to a location exterior of theapplicator clamp, the applicator tip configured to receive the treatmentmaterial from the dispensing end of the material applicator; anapplicator bracket attached to the material applicator and theapplicator clamp, the applicator bracket configured to slidably attachthe material applicator and the applicator bracket to the assemblysupport frame; and an automated applicator actuator operatively attachedto the assembly support frame and the applicator bracket; moving therobot arm to the treatment start position and aligning the applicatorassembly with the surface; saturating the applicator tip with a materialapplicator configured to dispense the treatment material; manipulatingthe applicator assembly between a first position and a second positionwith an automated applicator actuator configured to position theapplicator assembly relative to the surface; and selectively operatingthe applicator assembly to apply the treatment material to the surface.9. The method of claim 8, in which the surface treatment system furtherincludes: at least one sensor operatively attached to the applicatorassembly and configured to sense and scan the surface to produce asurface data set; and a controller communicably coupled to theapplicator assembly and programmed to operate the automated applicatoractuator to manipulate the applicator assembly between at least thefirst position and the second position, and to selectively operate thematerial applicator such that the treatment material is applied to thesurface.
 10. The method of claim 9, in which the at least one sensorcomprises a height sensor and the surface data set includes a distancemeasured between the applicator assembly and the surface, and in whichmanipulating the applicator assembly between the first position and thesecond position includes manipulating the applicator assembly based onthe surface data set.
 11. The method of claim 8, further comprising oneor more surface engaging members attached to the applicator assembly,wherein when the applicator assembly is in the second position, the oneor more surface engaging members are configured to engage the surfacesuch that the applicator tip maintains a constant contact point at afixed height relative to an application point of the applicator tip. 12.The method of claim 8, in which the dispensing end of the materialapplicator is aligned with the dispensing aperture of the applicatorclamp, and the dispensing end is positioned a fixed distance away fromthe applicator tip.
 13. The method of claim 8, in which the applicatorclamp includes a raised lip formed within the interior space, the raisedlip configured to surround a perimeter of the dispensing aperture toisolate the applicator tip from an excess treatment material deliveredby the material applicator.
 14. The method of claim 8, in which thedispensing aperture includes at least one applicator tip holder arrangedaround a lateral surface of the dispensing aperture, and wherein the atleast one applicator tip holder is configured to securely hold theapplicator tip within the dispensing aperture.
 15. The method of claim8, in which the applicator assembly further includes a pivot jointformed between the applicator bracket and the assembly support frame,and in which manipulating the applicator assembly between the firstposition and the second position further comprises rotating theapplicator tip about an axis of the pivot joint to maintain apredetermined orientation of the applicator assembly relative to thesurface.
 16. A method of treating a surface with a surface treatmentsystem, the method comprising: determining a treatment start position ofa robot arm for applying a treatment material to the surface, wherein anapplicator assembly is attached to the robot arm and includes anapplicator tip formed from an absorbent material; moving the robot armto the treatment start position and aligning the applicator assemblywith the surface; saturating the applicator tip with a materialapplicator configured to dispense the treatment material; manipulatingthe applicator assembly with an automated applicator actuator configuredto position the applicator assembly relative to the surface by: movingthe applicator assembly between a first position and a second position;and as the applicator assembly is moved between the first position andthe second position, selectively rotating the applicator tip about anaxis to maintain a predetermined orientation of the applicator assemblyrelative to the surface; and selectively operating the applicatorassembly to apply the treatment material to the surface; wherein thematerial applicator includes a dispensing end, and saturating theapplicator tip comprises aligning the dispensing end with the applicatortip and positioning the dispensing end a fixed distance away from theapplicator tip.
 17. The method of claim 16, wherein the applicatorassembly further comprises at least one sensor, and manipulating theapplicator assembly comprises scanning the surface with the at least onesensor to produce a surface data set including a distance measuredbetween the applicator assembly and the surface.
 18. The method of claim16, wherein the applicator assembly further comprises one or moresurface engaging members attached to the applicator assembly, andmanipulating the applicator assembly further includes engaging the oneor more surface engaging members with the surface such that theapplicator tip maintains a constant contact point at a fixed heightrelative to an application point of the applicator tip.
 19. The methodof claim 16, in which: the applicator assembly includes an applicatorclamp forming an interior space and having a dispensing aperture, theapplicator clamp configured to support and position the dispensing endof the material applicator within the interior space; and the applicatortip includes an interior portion and an exterior portion, the interiorportion extending into the interior space and aligned with the materialapplicator such that the interior portion of the applicator tip absorbsthe treatment material dispensed by the material applicator, and theexterior portion extending from the dispensing aperture to an exteriorposition, wherein the exterior portion selectively applies the treatmentmaterial along the surface to be treated.
 20. The method of claim 19, inwhich the surface treatment system further includes a controller, and atleast one sensor operatively attached to the applicator clamp and thecontroller, wherein the controller is communicably coupled to theautomated applicator actuator and the at least one sensor, wherein theat least one sensor is configured to sense and scan the surface andproduce a surface data set that includes a distance measured between theapplicator clamp and the surface, and the controller is programmed tooperate the automated applicator actuator to manipulate the applicatorassembly based on the surface data set.